CN110549177B - Robot polishing equipment and method for surface of revolving body - Google Patents
Robot polishing equipment and method for surface of revolving body Download PDFInfo
- Publication number
- CN110549177B CN110549177B CN201910675400.5A CN201910675400A CN110549177B CN 110549177 B CN110549177 B CN 110549177B CN 201910675400 A CN201910675400 A CN 201910675400A CN 110549177 B CN110549177 B CN 110549177B
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- Prior art keywords
- robot
- grinding
- revolving body
- clamp
- revolving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to equipment and a method suitable for grinding and polishing the surface of a revolving body, wherein a robot is used as an actuating mechanism for grinding. The apparatus comprises: the robot, the compliance device, the rotary pneumatic clamp, the horizontal sander, the clip replacing device. The polishing method comprises the following steps: s1, a robot grabs one end of a revolving body (workpiece) through a revolving pneumatic fixture; s2, the robot is attached to the horizontal grinding machine according to the surface shape of the revolving body, autorotation is carried out through the revolving pneumatic clamp, the surface of the revolving body is ground, the grinding contact force is controlled through the compliance device, and meanwhile the position error of the robot is compensated; s3, the robot places the revolving body on a clamp replacing device, and clamps the other end of the revolving body through a revolving pneumatic clamp after the clamp replacing device is turned over; and S4, repeating the step S2, and polishing the residual area of the surface of the revolving body. The grinding method of the revolving body provided by the invention is simple and practical, and can be used for grinding the surfaces of the revolving bodies such as metal cups, cylindrical containers, barrel sections and the like.
Description
Technical Field
The invention relates to robot polishing equipment and a method, in particular to robot polishing equipment and a method for a revolving body workpiece.
Background
In the production process of hardware such as metal drinking cup, polishing is an important process, and is also a difficult point and a pain point in enterprise production: firstly, the automation degree of polishing is low, and a large amount of labor is needed; secondly, the polishing has high labor cost due to the damage to the health of people; thirdly, the requirement on skills of grinding personnel is high, training is needed for a period of time to be put on duty, and temporary extension of personnel to supplement productivity is difficult during production emergency.
The automatic grinding of using the robot for hardware is the development trend of the existing industrial production, has higher production efficiency and good grinding consistency, and can more easily realize the isolation and dust removal of a grinding production line and eliminate the harm of dust to the health of people. The revolving body is an important and large-scale item in hardware, and has high practical value and practical significance for automatic grinding equipment of revolving body workpieces.
The invention provides a set of solutions for the difficulties in designing a proper clamp, a grinding tool, a force control device and an efficient grinding method for the appearance characteristics of a workpiece.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides equipment and a method capable of realizing automatic grinding of the surface of a revolving body workpiece.
In order to realize the technical scheme, the robot grinding equipment for the surface of the revolving body comprises the following parts: the robot, the compliance device, the rotary pneumatic clamp, the horizontal sander, the clip replacing device. The flexible device is arranged at the tail end of the robot, the rotary pneumatic clamp is arranged at the rear end of the flexible device, and the horizontal grinding machine and the clamp replacing device are arranged in a working space range near the robot. The parts of the equipment are described as follows: 1) the robot can adopt a commonly used six-degree-of-freedom industrial robot or other flexible execution mechanisms; 2) the compliance device is a device for realizing single-degree-of-freedom force control through air pressure control, and is used for compensating the position error of the robot and controlling the polishing contact force; 3) the rotary pneumatic clamp is a device which can rotate at an infinite angle and keeps an air claw open or closed, and is used for grabbing a rotary workpiece and realizing continuous autorotation of the rotary workpiece around a central shaft of the rotary workpiece; 4) the horizontal sander can be conventional; 5) the clamp replacing device is a mechanism for realizing workpiece reversing through a rotary cylinder and a gas claw.
Furthermore, in order to obtain different polishing effects, the abrasive used by the horizontal polishing machine can be selected from a plurality of abrasives such as an abrasive belt wheel, a nylon wheel, a flap wheel, a thousand-filament wheel and a wool wheel.
The invention also provides a robot grinding method for the surface of the revolving body, which comprises the following steps:
s1, a robot grabs one end of a revolving body (workpiece) through a revolving pneumatic fixture;
s2, the robot is attached to the horizontal grinding machine according to the surface shape of the revolving body, autorotation is carried out through the revolving pneumatic clamp, the surface of the revolving body is ground, the grinding contact force is controlled through the compliance device, and meanwhile the position error of the robot is compensated;
s3, the robot places the revolving body on a clamp replacing device, and clamps the other end of the revolving body through a revolving pneumatic clamp after the clamp replacing device is turned over;
and S4, repeating the step S2, and polishing the residual area of the surface of the revolving body.
The invention can determine the number of the revolving body workpieces to be simultaneously ground according to the load of the robot, the weight of the workpieces and the process requirements so as to obtain the required grinding efficiency. The number of the softening device, the rotary pneumatic clamp, the horizontal grinding machine and the clamp replacing device is corresponding to the number of the softening device, the rotary pneumatic clamp, the horizontal grinding machine and the clamp replacing device.
According to the invention, polishing stations (namely the number of stations of the horizontal polisher) can be increased according to process requirements, and multiple polishing process flows such as rough polishing, fine polishing, wire drawing, mirror polishing and the like are realized, so that the final required polishing effect is obtained.
The invention has the advantages that: 1) by horizontally arranging the polishing heads, a plurality of workpieces can be simultaneously processed, and the processing efficiency is greatly improved; 2) the flexibility and the flexibility of the robot are utilized, and the grinding machine can be suitable for grinding rotary workpieces in different shapes; 3) the grinding force is controlled by adopting the compliant device, so that the position error of the robot and the size and shape error of a workpiece are compensated, the vibration and impact caused by weak rigidity of the robot are avoided, and the grinding quality is improved; 4) the rotary pneumatic clamp realizes a continuous rotary polishing process through an air slip ring and the power transmission of a different shaft, overcomes the limitation of a rotation angle of a tail end shaft of the robot, reduces the idle stroke of the robot on the efficiency and improves the polishing consistency on the effect; 5) through the setting of trading the clamp station, realized the full polishing of workpiece surface, avoided the low efficiency process that many automation equipment need artifical the benefit to beat, really realized full automation.
Drawings
FIG. 1 is a schematic view of a robotic abrading equipment for surface of revolution of an embodiment of the invention;
FIG. 2 is a schematic view of a compliant device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rotary pneumatic fixture according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a clip replacing device according to an embodiment of the invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
Taking four workpieces to be polished simultaneously as an example, a schematic view of a robot polishing device for polishing a surface of a revolving body is shown in fig. 1, and the robot polishing device comprises: a six-degree-of-freedom industrial robot 1; the four groups of compliant devices and the rotary pneumatic clamp are arranged at the tail end 2 of the robot together through a connecting tool; a horizontal sander station 3 comprising four sanding heads; and a clamp replacing station 4 comprising four sets of clamp replacing devices.
The compliant device is shown in FIG. 2: the fixed end 5 and the movable end 6 are connected through a linear guide rail 7, the two parts can perform linear motion along a single direction, an air cylinder is arranged in the two parts, and the force of the relative motion is adjusted and controlled through the air pressure of the air cylinder.
The rotary pneumatic clamp is shown in FIG. 3: the gas claw 8 and the clamping block 9 are used for grabbing a revolving body workpiece and are arranged on a revolving platform 10, a motor 11 speed reducer 12 drives the revolving platform to rotate through a synchronous belt so as to drive the gas claw 8 to rotate, compressed air is transmitted through a gas slip ring 13 to control the opening or closing of the gas claw 8, and gas conveying in the continuous revolving process of the gas claw is kept.
The horizontal grinding machine comprises four grinding heads, the four grinding heads are driven by the same motor, and power is transmitted by adopting a synchronous belt.
The clip replacing device is shown as the following figures: comprises a rotary cylinder 14, a clamp changing gas claw 15 and a clamp changing block 16. The clip changing process is as follows: and (3) loosening the clamp changing gas claw, placing the revolving body workpiece in the center of the clamp changing gas claw by the robot, closing the clamp changing gas claw, loosening the robot gas claw, then rotating the revolving cylinder by 180 degrees, grabbing the other end of the revolving body workpiece by the robot gas claw, and loosening the clamp changing gas claw, thereby finishing the whole clamp changing process.
Claims (5)
1. A robot of solid of revolution surface equipment of polishing which characterized in that includes: the device comprises a robot, a softening device, a rotary pneumatic clamp, a horizontal grinding machine and a clamp replacing device;
the robot adopts a commonly used six-degree-of-freedom industrial robot;
the compliance device is a device for realizing single-degree-of-freedom force control through air pressure control, and is used for compensating the position error of the robot and controlling the polishing contact force;
the rotary pneumatic clamp is a device which can rotate at an infinite angle and keeps the gas claw open or closed, and is used for grabbing a rotary workpiece and realizing continuous autorotation of the rotary workpiece around a central shaft of the rotary workpiece;
the clamp replacing device is a mechanism for realizing workpiece reversing through a rotary cylinder and a gas claw;
the flexible device is arranged at the tail end of the robot, the rotary pneumatic clamp is arranged at the rear end of the flexible device, and the horizontal grinding machine and the clamp replacing device are arranged in a working space range near the robot.
2. The robot grinding equipment for the surface of the revolving body according to claim 1, wherein the abrasive material used by the horizontal grinding machine is selected from an abrasive wheel, a nylon wheel, a flap wheel, a thousand-wire wheel or a wool wheel to obtain different grinding effects.
3. The grinding method of the robot grinding equipment for the surface of the revolving body according to claim 1, characterized by comprising the steps of:
s1, a robot grabs one end of a revolving body through a revolving pneumatic fixture;
s2, the robot is attached to the horizontal grinding machine according to the surface shape of the revolving body, autorotation is carried out through the revolving pneumatic clamp, the surface of the revolving body is ground, the grinding contact force is controlled through the compliance device, and meanwhile the position error of the robot is compensated;
s3, the robot places the revolving body on a clamp replacing device, and clamps the other end of the revolving body through a revolving pneumatic clamp after the clamp replacing device is turned over;
and S4, repeating the step S2, and polishing the residual area of the surface of the revolving body.
4. The method of claim 3, wherein the number of revolving body workpieces to be ground simultaneously is determined according to robot load, workpiece weight and process requirements, and the corresponding number of compliance device, revolving pneumatic clamp, horizontal grinding machine and clamp-changing device are configured to achieve the required grinding efficiency.
5. The grinding method of the robot grinding equipment for the surface of the revolving body according to claim 3, characterized in that grinding stations can be added according to process requirements to realize a plurality of grinding process flows of rough grinding, fine grinding, wire drawing and mirror surface polishing so as to obtain the final required grinding effect.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910675400.5A CN110549177B (en) | 2019-07-25 | 2019-07-25 | Robot polishing equipment and method for surface of revolving body |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910675400.5A CN110549177B (en) | 2019-07-25 | 2019-07-25 | Robot polishing equipment and method for surface of revolving body |
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| Publication Number | Publication Date |
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| CN110549177A CN110549177A (en) | 2019-12-10 |
| CN110549177B true CN110549177B (en) | 2021-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910675400.5A Active CN110549177B (en) | 2019-07-25 | 2019-07-25 | Robot polishing equipment and method for surface of revolving body |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975577A (en) * | 2020-07-24 | 2020-11-24 | 上海发那科机器人有限公司 | Robot-held multi-workpiece synchronous polishing method |
| CN112605881B (en) * | 2020-12-16 | 2022-09-23 | 中核（天津）机械有限公司 | Special grinding and polishing equipment for small-size stepped shaft parts and spherical grinding and polishing method |
| CN114012557A (en) * | 2021-10-14 | 2022-02-08 | 上海发那科机器人有限公司 | Carbon-carbon composite material revolving body polishing measurement compensation system and use method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0816225A (en) * | 1994-04-27 | 1996-01-19 | Hitachi Ltd | Method and device for controlling robot mechanism |
| CN106111827A (en) * | 2016-06-30 | 2016-11-16 | 新兴县先丰不锈钢制品有限公司 | Stainless-steel pan send Pot devices automatically |
| CN206254004U (en) * | 2016-12-12 | 2017-06-16 | 武汉库柏特科技有限公司 | A kind of robot flexibility polishing system |
| CN108340249A (en) * | 2018-04-19 | 2018-07-31 | 广东利迅达机器人系统股份有限公司 | The double-station belt sanding system of polishing tup |
| CN109397041A (en) * | 2018-10-24 | 2019-03-01 | 武汉理工大学 | A kind of the silicon carbide free abrasive polissoir and method of apery hand |
-
2019
- 2019-07-25 CN CN201910675400.5A patent/CN110549177B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0816225A (en) * | 1994-04-27 | 1996-01-19 | Hitachi Ltd | Method and device for controlling robot mechanism |
| CN106111827A (en) * | 2016-06-30 | 2016-11-16 | 新兴县先丰不锈钢制品有限公司 | Stainless-steel pan send Pot devices automatically |
| CN206254004U (en) * | 2016-12-12 | 2017-06-16 | 武汉库柏特科技有限公司 | A kind of robot flexibility polishing system |
| CN108340249A (en) * | 2018-04-19 | 2018-07-31 | 广东利迅达机器人系统股份有限公司 | The double-station belt sanding system of polishing tup |
| CN109397041A (en) * | 2018-10-24 | 2019-03-01 | 武汉理工大学 | A kind of the silicon carbide free abrasive polissoir and method of apery hand |
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| CN110549177A (en) | 2019-12-10 |
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